Assistance device for imaging support of a surgeon during a surgical operation

Abstract

A surgical device is disclosed. The surgical device has an endoscope having a camera that generates image data, a viewing device that displays a moving image based on image data generated by the camera, and a manipulator that is coupled with the endoscope, the endoscope being movable by the manipulator. The surgical device also has a controller that controls the manipulator based on a control command, the moving image displayed on the viewing device changing based on a movement of the endoscope. The surgical device further has a sensor coupled with the controller, and an operating element coupled with the controller, the operating element having a first operating state and a second operating state. The sensor detects a moving object, which is used in a surgical procedure, and generates a movement signal based on a movement of the moving object.

What is claimed is: 
     
         1 . A surgical device, comprising:
 an endoscope having a camera that generates image data;   a viewing device that displays a moving image based on image data generated by the camera;   a manipulator that is coupled with the endoscope, the endoscope being movable by the manipulator;   a controller that controls the manipulator based on a control command, the moving image displayed on the viewing device changing based on a movement of the endoscope;   a sensor coupled with the controller; and   an operating element coupled with the controller, the operating element having a first operating state and a second operating state;   wherein the sensor detects a moving object, which is used in a surgical procedure, and generates a movement signal based on a movement of the moving object;   wherein the controller generates a control command based on the movement signal;   wherein in the first operating state, control of the manipulator by the controller to move the endoscope is enabled; and   wherein in the second operating state, control of the manipulator by the controller to move the endoscope is disabled.   
     
     
         2 . The surgical device according to  claim 1 , wherein the moving object is a surgical instrument, and the sensor detects the movement of the surgical instrument relative to a reference object. 
     
     
         3 . The surgical device according to  claim 1 , wherein the control command includes a zoom command, the manipulator being controlled via the zoom command to make a zooming movement with the camera. 
     
     
         4 . The surgical device according to  claim 2 , wherein:
 the sensor detects the movement of the surgical instrument relative to a trocar tube in which the surgical instrument is guided; and   the trocar tube is the reference object.   
     
     
         5 . The surgical device according to  claim 1 , wherein the controller generates the control command based on the movement signal generated by the sensor and the image data generated by the camera. 
     
     
         6 . The surgical device according to  claim 1 , wherein:
 the moving object is a surgical instrument;   the controller includes an image processing module that detects the surgical instrument in the displayed moving image based on the image data generated by the camera;   the image processing module determines a position deviation of the surgical instrument relative to a reference position established within the displayed moving image; and   in the enable state, the controller determines a nominal value to be factored into the control command based on the position deviation, and the controller actuates the manipulator based on this nominal value so that the surgical instrument detected in the displayed moving image is brought into the determined reference position by tracking of the endoscope with the camera.   
     
     
         7 . The surgical device according to  claim 1 , wherein the movement signal generated by the sensor is transmitted to the controller via wireless transmission. 
     
     
         8 . The surgical device according to  claim 1 , wherein the operating element is a single switch element having precisely two switching states, the precisely two switching states being the first operating state and the second operating state. 
     
     
         9 . A surgical device, comprising:
 an endoscope having a camera that generates image data;   a viewing device that displays a moving image based on image data generated by the camera;   a manipulator that is coupled with the endoscope, the endoscope being movable by the manipulator;   a controller that controls the manipulator based on a control command, the moving image displayed on the viewing device changing based on a movement of the endoscope;   a sensor coupled with the controller, the sensor including one of a surface-emitting laser, a plurality of marking points, or an acceleration sensor; and   an operating element coupled with the controller, the operating element having a first operating state and a second operating state;   wherein the sensor detects a moving object, which is used in a surgical procedure, and generates a movement signal based on a movement of the moving object;   wherein the controller generates a control command based on the movement signal; and   wherein in the first operating state, control of the manipulator by the controller to move the endoscope is enabled.   
     
     
         10 . The surgical device according to  claim 9 , wherein in the second operating state, control of the manipulator by the controller to move the endoscope is disabled. 
     
     
         11 . The surgical device according to  claim 9 , wherein the moving object is a surgical instrument, and the sensor detects the movement of the surgical instrument relative to a reference object. 
     
     
         12 . The surgical device according to  claim 11 , wherein:
 the sensor detects the movement of the surgical instrument relative to a trocar tube in which the surgical instrument is guided; and   the trocar tube is the reference object.   
     
     
         13 . The surgical device according to  claim 12 , wherein:
 the sensor is disposed in the trocar tube and includes a light source and an image sensor, which are oriented to a window formed in an inner wall of the trocar tube, and a processor; and   the image sensor takes pictures, in succession, of the surgical instrument moving past the window of the trocar tube and illuminated by the light source.   
     
     
         14 . The surgical device according to  claim 13 , wherein:
 the processor generates the movement signal based on differences in the consecutively taken pictures; and   the sensor is disposed in an enlarged instrument entrance of the trocar tube.   
     
     
         15 . The surgical device according to  claim 9 , wherein:
 the moving object is a marking body that is disposed on a surgical instrument; and   the marking body is a rigid body having at least three non-collinear marking points that are detectable by the sensor.   
     
     
         16 . The surgical device according to  claim 9 , wherein:
 the sensor includes the acceleration sensor; and   the acceleration sensor is disposed on a bracelet.   
     
     
         17 . A system, comprising:
 an endoscope having a camera that generates image data;   a monitor screen that displays a moving image based on image data generated by the camera;   a surgical robot arm that is coupled with the endoscope, the endoscope being movable by the surgical robot arm;   a controller that controls the surgical robot arm based on a control command, the moving image displayed on the monitor screen changing based on a movement of the endoscope;   a sensor coupled with the controller; and   an operating element coupled with the controller, the operating element having a first operating state and a second operating state;   wherein the sensor detects a surgical instrument, and generates a movement signal based on a movement of the surgical instrument;   wherein the controller generates a control command based on the movement signal;   wherein in the first operating state, control of the surgical robot arm by the controller to move the endoscope is enabled; and   wherein in the second operating state, control of the surgical robot arm by the controller to move the endoscope is disabled.   
     
     
         18 . The system according to  claim 17 , wherein the operating element is a monostable push button. 
     
     
         19 . The system according to  claim 17 , wherein the operating element is a single switch element having precisely two switching states, the precisely two switching states being the first operating state and the second operating state. 
     
     
         20 . The system according to  claim 19 , wherein the sensor includes one of a surface-emitting laser, a plurality of marking points, or an acceleration sensor.